@misc{guo2020efficacy,
      title={The efficacy of Neural Planning Metrics: A meta-analysis of PKL on nuScenes}, 
      author={Yiluan Guo and Holger Caesar and Oscar Beijbom and Jonah Philion and Sanja Fidler},
      year={2020},
      eprint={2010.09350},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}